Study on three-dimensional active cord mechanism: development of ACM-R2

Author

Togawa, Keiji ; Mori, Makoto ; Hirose, Shigeo

Author_Institution

Dept. of Mech.-Aerosp. Eng., Tokyo Inst. of Technol., Japan

Volume

3

fYear

2000

fDate

2000

Firstpage

2242

Abstract

Describes the development of ACM-R2, which is new version of the active cord mechanism with 3D mobility. This ACM-R2 has installed a driving mechanism called “M-drive”. This mechanism enables the ACM-R2 to acquire a high output/mass ratio and torque limiting joints, which works as a normal joint and deforms under excessive torque. It has also installed a new type of torque sensor, the “float differential torque sensor” on each joint. Additionally the ACM-R2 has also a self-contained structure with control computer and battery in the joint units. These specific driving mechanisms and the self-contained structure enable ACM-R2 to demonstrate new propulsion methods and motions combining the ability of a manipulator and a locomotor

Keywords

force sensors; mobile robots; position control; torque control; 3D mobility; ACM-R2; M-drive; driving mechanism; float differential torque sensor; propulsion methods; self-contained structure; three-dimensional active cord mechanism; torque sensor; Abdomen; Batteries; Friction; Leg; Magnetooptic recording; Neck; Organisms; Pensions; Propulsion; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.895302

Filename

895302